CN111746519A

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Info

Publication number: CN111746519A
Application number: CN202010506382.0A
Authority: CN
Inventors: 王超; 梁锋华; 黎平
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2020-06-05
Filing date: 2020-06-05
Publication date: 2020-10-09

Abstract

The invention provides a safety monitoring method for short-distance remote control parking and a computer readable storage medium, which comprises the steps of responding to the starting state of a vehicle, monitoring that a switch of a remote control parking system is triggered, and activating the remote control parking system when the remote control parking system meets an activation condition; searching for a parking space by using a camera and an ultrasonic sensor, and judging whether the parking space is searched or not based on the acquired image information and the acquired barrier information; if the remote control parking system searches the parking space, sending a get-off prompt message to a user, and remotely parking the vehicle into the parking space through the intelligent key; controlling the vehicle to park in response to the monitored parking starting instruction sent by the intelligent key; and responding to the parking process of the vehicle, continuously sending a heartbeat signal within a preset safety monitoring distance range by the intelligent key, and monitoring the heartbeat signal by the remote control parking system until the parking is finished. The invention avoids the potential safety hazard caused by operating the intelligent key to automatically park when the user leaves the safety monitoring distance area.

Description

Safety monitoring method for short-distance remote control parking and computer readable storage medium

Technical Field

The invention relates to the technical field of remote control parking, in particular to a safety monitoring method for short-distance remote control parking and a computer readable storage medium.

Background

At present, the automatic parking system is widely applied in the field of automobiles, even becomes the standard distribution of all automobile models or high-end automobile models, particularly the popularization of full-automatic parking, and plays a good parking assisting role for less-skilled female drivers or novice drivers. With the development of technology, remote control parking is added in a new generation of automatic parking system, the current technical condition is that the remote control parking is performed in a short distance or in a public-oriented way, and a user is required to monitor the parking process so as to ensure the safety of the parking process. At present, in the mainstream remote control parking technology, for example, the remote control parking method, system and computer readable storage medium based on the mobile phone internet APP disclosed in CN201910205187.1, the automatic parking process of the whole course control outside the vehicle is completed through the real-time interaction between the mobile phone internet APP and the APA controller, but the mobile phone APP needs to be opened to enter the system, the parking can be started only by pressing the parking key for a long time, the operation steps are complicated, and the practicability is not strong.

As another example, CN201910515068.6 discloses a narrow vertical parking space remote control parking method and a computer readable storage medium, including:step 1, responding to a starting state of a vehicle, and activating a remote control parking system when a switch of the remote control parking system is triggered and the remote control parking system meets an activation condition; step 2, searching the parking space by using a camera and an ultrasonic sensor, and judging whether the searched parking space is a narrow vertical parking space or not based on the acquired image information and the acquired barrier information; step 3, responding to the situation that the parking space is narrow and vertical, outputting information that the parking space is too narrow, recommending remote control parking, and prompting a user to get off and remotely park the vehicle into the parking space through an intelligent key;step 4, controlling the vehicle to park when a parking starting instruction sent by the intelligent key is monitored; and 5, responding to the parking completion, and actively performing flameout, window closing and locking. The invention solves the problem that a user is inconvenient to get on or off the vehicle after parking in a narrow vertical parking space, but the user may leave the safety monitoring area without knowing the user, and unknown potential safety hazards may be brought when the intelligent key is operated to automatically park the vehicle.

Therefore, it is necessary to develop a safety monitoring method and a computer readable storage medium for remote parking at a short distance.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a safety monitoring method and a computer readable storage medium for remote-controlled parking in a short distance, which solve the technical problem of safety hidden troubles caused by operating an intelligent key to automatically park when a driver leaves a safety monitoring area by monitoring a heartbeat signal of the intelligent key and sending a prompt message when the heartbeat signal is not monitored.

In a first aspect, the present invention provides a safety monitoring method for short-distance remote-controlled parking, including the following steps:

step 1, responding to a starting state of a vehicle, and activating a remote control parking system when a switch of the remote control parking system is triggered and the remote control parking system meets an activation condition;

step 2, searching for a parking space by using a camera and an ultrasonic sensor, and judging whether the parking space is searched or not based on the acquired image information and the acquired barrier information;

step 3, if the parking space is searched by the remote control parking system, sending a get-off prompt message to a user, and remotely parking the vehicle into the parking space through an intelligent key;

step 4, controlling the vehicle to park in response to the monitored parking starting instruction sent by the intelligent key;

step 5, responding to the parking process of the vehicle, the intelligent key continuously sends heartbeat signals, a plurality of different monitoring distance grades are established according to the key signal transmitting power and the viewing angles around the parking, the monitoring distance is adjusted by adjusting the key signal transmitting power so as to meet the regulation requirements of safe monitoring of parking distances in different countries or regions, and meanwhile, the remote control parking system continuously monitors the heartbeat signals until the parking is finished;

and 6, responding to the parking completion, and actively flameout, closing the window and locking.

Further, in the parking process in step 5, the specific steps of the smart key continuously sending the heartbeat signal and establishing a plurality of different monitoring distance levels are as follows:

controlling the sending distance of the parking key radio frequency signal by adjusting the intelligent key signal transmitting power, and further setting the safety monitoring distance range for monitoring the heartbeat signal; if the intelligent key is monitored to be within the safety monitoring distance range of the preset monitoring heartbeat signal, and a parking starting instruction sent by the intelligent key is monitored in response to the intelligent key, controlling the vehicle to park; if the intelligent key is monitored not to be within the safety monitoring distance range of the preset monitoring heartbeat signal, the remote control parking system monitors that the heartbeat signal is lost, the remote control parking system sends a prompt signal to a user in a wireless communication mode to request monitoring and supervision of the vehicle, and the wireless communication mode comprises a mobile communication terminal APP or a short message pushing mode.

Further, the process that the remote control parking system sends the prompt signal to the user in a wireless communication mode comprises the following steps:

the intelligent vehicle body controller is switched to the gateway to lock and lift the window of the vehicle, and a user is reminded in an audible and visual alarm mode; meanwhile, the prompt signal is transferred to the vehicle-mounted display communication controller through the gateway; the vehicle-mounted display communication controller uploads the prompt signal to the cloud server, and the cloud server converts the received prompt signal into prompt information and simultaneously pushes the prompt information to a user; in the parking process within the setting range of the monitoring heartbeat signal, the remote control parking system automatically judges the information of the track and the corner sensor and simultaneously controls the electric power steering system, the electronic gear shifting system, the engine management system, the vehicle body stabilizing system and the transmission system until the parking is finished.

Further, in thestep 1, if the activation condition is not satisfied, an alarm signal is sent out, and the alarm signal is forwarded to the instrument through the gateway to send out a fault alarm.

Further, when the parking space is searched, the user is prompted through the vehicle-mounted display.

In a second aspect, the present invention also provides a computer-readable storage medium storing one or more programs, which are executable by one or more processors, to implement the steps of the method for safety monitoring of remote-controlled parking at a short distance according to the present invention.

The invention brings the following beneficial effects:

(1) parking by one key of the intelligent key is simple to operate and good in experience;

(2) the size of the user safety monitoring range can be set by adjusting the transmitting power of the radio frequency signal of the intelligent key;

(3) in the parking process, the heartbeat signal is continuously sent through the intelligent key, and the remote control parking system monitors the heartbeat signal to judge whether the user is far away from the vehicle;

(4) in the parking process, if the situation that the intelligent key held by the user exceeds the maximum monitoring range of the radio frequency signal of the intelligent key is monitored, the remote control parking system reminds the user to monitor and take over the vehicle through wireless communication modes such as a mobile communication terminal APP, a short message and the like.

(5) The cost can not be increased, and the experience of safety, intelligence and science and technology can be brought by utilizing the existing hardware.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic block diagram of a safety monitoring method for short-distance remote-controlled parking according to the present invention;

FIG. 2 is a logic flow diagram of a safety monitoring method for short-distance remote-controlled parking according to the present invention;

FIG. 3 is a schematic diagram of a three-level monitoring distance range provided by the present invention;

FIG. 4 is a graph of different monitoring distance levels provided by the present invention;

FIG. 5 is a schematic diagram illustrating the use of the remote parking system of the present invention;

in the figure, 1-a remote control parking system, 2-a remote control parking system controller, 3-an ultrasonic radar, 4-a high-definition camera, 5-a remote control parking system switch, 6-a gateway, 7-a smart key, 8-a smart car body controller, 9-a meter, 10-a car display, 11-an electric power steering system, 12-an electronic gear shifting system, 13-an engine management system, 14-a car body stabilizing system, 15-a transmission system, 16-a corner sensor, 17-a cloud server, 18-a mobile communication terminal, 19-a driver, 20-a target vehicle, 21-a first obstacle vehicle and 22-a second obstacle vehicle.

Detailed Description

In this embodiment, as shown in fig. 1, hardware related to implement the entire parking control includes aRemote parking system 1, a Remote parking system Switch (SW)5, a Gateway (GW)6, a smart Key (Remote Key)7, a smart body controller (iBCM)8, a meter (IP + Speaker)9, a vehicle-mounted display (THU)10, an electric power steering system (EPS)11, an electronic shift system (ESL)12, an Engine Management System (EMS)13, a body stabilization system (EPBi)14, a transmission system (TCU)15, a Steering Angle Sensor (SAS)16, acloud server 17, and amobile communication terminal 18. The remotecontrol parking system 1 includes a remote control parking system controller (ECU)2, an Ultrasonic radar (Ultrasonic Sensor)3 and a Camera (HD Camera)4, which are respectively connected to the remote control parking system controller 2. The remote parking system switch 5 is connected to the remote parking system controller 2. The remote control parking system controller 2 is connected with thegateway 6 through a Safe CAN bus. The electricPower steering system 11, the electronicgear shifting system 12, theengine management system 13, the vehiclebody stabilizing system 14, thetransmission system 15 and therotation angle sensor 16 are respectively connected with thegateway 6 through Power CAN buses. The intelligentvehicle Body controller 8, theinstrument 9 and the vehicle-mounteddisplay 10 are respectively connected with thegateway 6 through a Body CAN bus. The vehicle-mounted display uploads a prompt signal to thecloud end 17 in a wireless communication mode, and the cloud end converts the prompt signal into prompt information and sends the prompt information to relevant equipment such as a mobile communication terminal of a user and the like, so that the user is reminded of not carrying out intelligent key parking operation in a long distance.

In this embodiment, a safety monitoring method for short-distance remote-controlled parking includes the following steps:

step 5, responding to the parking process of the vehicle, continuously acquiring heartbeat signals by the intelligent key, establishing a plurality of different monitoring distance grades according to the key signal transmitting power and the parking angle, adjusting the monitoring distance by adjusting the key signal transmitting power so as to meet the regulation requirements of safe monitoring of the parking distance in different countries or regions, and continuously monitoring the heartbeat signals by the remote control parking system until the parking is finished;

The working principle of the invention is as follows:

(1) and starting the whole vehicle, pressing a remote control parking system switch 5, and activating the system.

(2) When theremote parking system 1 receives the signal from thetransmission system 15 and thetransmission system 15 is in the D range, thedriver 19 drives the vehicle forward through the parking space.

(3) The searched parking space information is sent to the remotecontrol parking system 1 through the ultrasonic radar 3 and the high-definition camera 4, and after the remotecontrol parking system 1 judges that the parking space is searched, prompt information (such as finding the parking space and asking for parking) is sent to the vehicle-mounteddisplay communication controller 10 through thegateway 6 to prompt adriver 19.

(4) After thedriver 19 selects remote parking after parking, theremote parking system 1 automatically parks, then thedriver 19 gets off the vehicle with theintelligent key 7, sends a confirmation parking starting signal by using theintelligent key 7, simultaneously continuously sends a heartbeat signal, the confirmation parking starting signal and the heartbeat signal are processed by the intelligentvehicle body controller 8 and sent to theremote parking system 1 through thegateway 6, and theremote parking system 1 starts to execute remote parking.

(5) In the parking process, if thedriver 19 carries theintelligent key 7 in the maximum monitoring range of the monitoring heartbeat signal, the remotecontrol parking system 1 automatically judges the information of the track and therotation angle sensor 16 and controls the electricpower steering system 11, the electronicgear shifting system 12, theengine management system 13, the vehiclebody stabilizing system 14 and thetransmission system 15 to work until the parking is finished.

(6) If thedriver 19 with thesmart key 7 exceeds the maximum monitoring range of the monitoring heartbeat signal during the parking process, theremote parking system 1 cannot receive the heartbeat signal of thesmart key 7 at this time. At this time, the remotecontrol parking system 1 sends out a prompt signal to the intelligentvehicle body controller 8 through thegateway 6 to control the vehicle to lock and lift a window, and reminds a user in a sound-light alarm mode, and simultaneously sends the prompt signal to the vehicle-mounteddisplay communication controller 10 through thegateway 6, the vehicle-mounteddisplay communication controller 10 uploads the prompt signal to thecloud server 17, thecloud server 17 converts the prompt signal into prompt information and pushes the prompt information to themobile communication terminal 18 bound by thedriver 19 to prompt the driver that 'you leave a parking area, parking is interrupted, and please keep monitoring the parking state'.

(7) After parking is completed, the remotecontrol parking system 1 performs a series of operations such as remote control flameout, window closing, locking and the like.

Referring to fig. 2, the detailed work flow of the key remote control parking safety monitoring is as follows:

(1) and carrying out self-checking on the remotecontrol parking system 1 when being powered on, and if the activation condition is not met, forwarding a fault alarm signal to theinstrument 9 through thegateway 6 by the remote control parking system controller 2 to send out a fault alarm.

(2) When the power-on self-test satisfies the activation condition, the remotecontrol parking system 1 prompts thedriver 19 to drive the vehicle to find a parking space through the vehicle-mounteddisplay communication controller 10.

(3) When adriver 19 drives a vehicle to pass through a parking space, the ultrasonic radar 3 and the high-definition camera 4 send the searched parking space information to the remotecontrol parking system 1, then the remotecontrol parking system 1 judges whether the parking space is searched or not until the parking space is searched, and at the moment, the remotecontrol parking system 1 prompts a user to find the parking space and please park through the vehicle-mounteddisplay communication controller 10.

(4) When a user confirms to use the remote control parking system to park automatically, a driver takes theintelligent key 7 to get off the vehicle, sends a confirmation parking starting signal by using theintelligent key 7 and continuously sends a heartbeat signal, the confirmation parking starting signal and the heartbeat signal are processed by the intelligentvehicle body controller 8 and sent to the remotecontrol parking system 1 through thegateway 6, and the remotecontrol parking system 1 starts to execute remote control parking.

(5) Firstly, a handshake is established between theremote parking system 1 and the vehiclebody stabilizing system 14, the electronicgear shifting system 12 and the electricpower steering system 11.

(6) The vehiclebody stabilizing system 14 responds to a pre-build-up pressure request established by the remotecontrol parking system 1 and responds to a parking brake releasing request; the electronicgear shifting system 12 responds to a gear request of the remotecontrol parking system 1; the electricpower steering system 11 responds to a steering request from theremote parking system 1.

(7) If theengine management system 13 supplies torque greater than or equal to the required torque, theremote parking system 1 does not need to make a torque request to theengine management system 13. Theremote parking system 1 needs to request thebody stabilizing system 14 to keep braking so that the vehicle keeps the vehicle running in the target gear, at the target speed and the target turning angle according to the planned parking path until parking is completed.

(8) If theengine management system 13 torque is less than requested, theremote parking system 1 also needs to establish a handshake with theengine management system 13 and request a torque increase in order to complete the parking. The vehicle then keeps the vehicle in the target gear, and travels along the planned parking path at the target speed and the target steering angle until parking is complete.

(9) The remotecontrol parking system 1 automatically judges that parking is finished, the electronicgear shifting system 12 responds to a P gear engaging request of the remotecontrol parking system 1, and the vehiclebody stabilizing system 14 responds to a parking braking request of the remotecontrol parking system 1.

(10) The remotecontrol parking system 1 prompts thedriver 19 to finish parking through sound, and extinguishes, closes the window and locks.

(11) During parking, if thedriver 19 with thesmart key 7 leaves the preset maximum monitoring distance range of the heartbeat signal, theremote parking system 1 cannot monitor the heartbeat signal. The remotecontrol parking system 1 sends out a prompt signal, the prompt signal is transmitted to the vehicle-mounteddisplay communication controller 10 through thegateway 6, the vehicle-mounteddisplay communication controller 10 uploads the prompt signal to thecloud server 17, thecloud server 17 converts the prompt signal into a prompt message and pushes the prompt message to themobile communication terminal 18 bound by thedriver 19, and the driver is prompted to 'you leave the parking area, the parking is interrupted, and the monitoring of the parking state is kept'.

Specifically, as shown in fig. 3, when theremote parking system 1 cannot monitor the heartbeat signal, taking three-level monitoring distance ranges (6 m, 8m, 10 m) as an example, a plurality of different monitoring distance levels are established according to the key signal transmission power of the smart key and the perspective around the parking. The perspective angle is zero from the left angle and the right angle of the automobile, 30 degrees are respectively used as an amplitude and are increased to 180 degrees, the three different key signal transmitting powers (0 db, 2db and 4 db) are respectively corresponding, the monitoring distance range is set to be between 5 and 11, and the real automobile test data are shown in figure 4. Meanwhile, the monitoring distance can be adjusted by adjusting the transmission power of the adjustment key signal by the driver (in actual operation, the monitoring distance value is also related to the sensitivity of the receiver), so that the legal requirements of safely monitoring the parking distance in different countries or regions (for example, European regulations require that the parking monitoring distance is 6m in a remote control mode) are met, and the requirement of the monitoring distance in a closer distance or a longer distance is met.

Referring to fig. 5, a schematic diagram of the use of the short-range safety monitoring remote-controlled parking:

the diagram shows an example of a short-distance Remote control parking process and a route planning schematic in which adriver 19 holds a smart Key (Remote Key)7 in a hand and only needs three shifts from the time of finding a parking space within the maximum monitoring range of a monitoring heartbeat signal.

(1) In fig. 3 thetarget vehicle 20 first seeks a target space between thefirst obstacle vehicle 21 and thesecond obstacle vehicle 22 in fig. 3. Theremote parking system 1 simultaneously plans a parking path (three steps illustrated in fig. 3).

(2) When thetarget vehicle 20 reaches the predetermined parking position shown in the drawing, thedriver 19 is prompted by the in-vehicledisplay communication controller 10 to "find a parking space, please park".

(3) Thedriver 19 gets off the vehicle with theintelligent key 7, sends a signal for confirming the start of parking with theintelligent key 7 and continuously sends a heartbeat signal, the signal for confirming the start of parking and the heartbeat signal are processed by the intelligentvehicle body controller 8, and the remotecontrol parking system 1 is sent through thegateway 6, and the remotecontrol parking system 1 starts to execute remote control parking.

(4) The remote control parking system automatically judges information of a track and acorner sensor 16 and controls the electricpower steering system 11, the electronicgear shifting system 12, theengine management system 13, the vehiclebody stabilizing system 14 and thetransmission system 15 until parking is finished.

A computer-readable storage medium according to the present invention stores one or more programs, which are executable by one or more processors, to implement the steps of the method for safety monitoring of remote-controlled parking at a short distance according to the present invention.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Claims

1. A safety monitoring method for short-distance remote control parking is characterized by comprising the following steps:

2. The method for monitoring the safety of the short-distance remote-controlled parking according to claim 1, wherein the specific steps of continuously sending the heartbeat signal and establishing a plurality of different monitoring distance levels by the smart key in the parking process in the step 5 are as follows:

controlling the sending distance of the parking key radio frequency signal by adjusting the intelligent key signal transmitting power, and further setting the safety monitoring distance range for monitoring the heartbeat signal;

if the intelligent key is monitored to be within the safety monitoring distance range of the preset monitoring heartbeat signal, and a parking starting instruction sent by the intelligent key is monitored in response to the intelligent key, controlling the vehicle to park;

if the intelligent key is monitored not to be within the safety monitoring distance range of the preset monitoring heartbeat signal, the remote control parking system monitors that the heartbeat signal is lost, the remote control parking system sends a prompt signal to a user in a wireless communication mode to request monitoring and supervision of the vehicle, and the wireless communication mode comprises a mobile communication terminal APP or a short message pushing mode.

3. The method for remotely monitoring the parking safety at close range according to claim 2, wherein the process of sending the prompt signal to the user by the remote control parking system through wireless communication comprises the following steps:

the intelligent vehicle body controller is switched to the gateway to lock and lift the window of the vehicle, and a user is reminded in an audible and visual alarm mode;

meanwhile, the prompt signal is transferred to the vehicle-mounted display communication controller through the gateway;

the vehicle-mounted display communication controller uploads the prompt signal to the cloud server, and the cloud server converts the received prompt signal into prompt information and simultaneously pushes the prompt information to a user;

in the parking process within the setting range of the monitoring heartbeat signal, the remote control parking system automatically judges the information of the track and the corner sensor and simultaneously controls the electric power steering system, the electronic gear shifting system, the engine management system, the vehicle body stabilizing system and the transmission system until the parking is finished.

4. The safety monitoring method for short-distance remote-controlled parking according to claim 1, wherein in step 1, if the activation condition is not met, an alarm signal is sent out and forwarded to the instrument through the gateway to send out a fault alarm.

5. The safety monitoring method for short-range remote-controlled parking according to claim 1, characterized in that: and in the step 2, when the parking space is searched, prompting a user through a vehicle-mounted display.

6. A computer-readable storage medium storing one or more programs which are executable by one or more processors to implement the steps of the method for safety monitoring for remote parking at close range according to any one of claims 1 to 5.